diff options
| -rw-r--r-- | klippy/chelper/itersolve.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 3aadd5af..ae351f7d 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -22,7 +22,7 @@ struct timepos { double time, position; }; -// Find step using "false position" method +// Find step using "false position" method (with "Illinois algorithm") static struct timepos itersolve_find_step(struct stepper_kinematics *sk, struct move *m , struct timepos low, struct timepos high @@ -39,6 +39,7 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m if (high_sign == signbit(low.position)) // The target is not in the low/high range - return low range return (struct timepos){ low.time, target }; + int prev_choice = 0; for (;;) { double guess_time = ((low.time*high.position - high.time*low.position) / (high.position - low.position)); @@ -51,9 +52,15 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m if (guess_sign == high_sign) { high.time = guess_time; high.position = guess_position; + if (prev_choice > 0) + low.position *= .5; + prev_choice = 1; } else { low.time = guess_time; low.position = guess_position; + if (prev_choice < 0) + high.position *= .5; + prev_choice = -1; } } return best_guess; |